/********************************************************************************
 * Copyright 2013 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWSIM_CONTACTS_CONTACTMODEL_HPP_
#define RWSIM_CONTACTS_CONTACTMODEL_HPP_

/**
 * @file rwsim/contacts/ContactModel.hpp
 *
 * \copydoc rwsim::contacts::ContactModel
 */

#include <rw/core/Ptr.hpp>
#include <rw/proximity/ProximityModel.hpp>

namespace rwsim { namespace contacts {
    //! @addtogroup rwsim_contacts

    //! @{
    /**
     * @brief The ContactModel is an interface for the contact models implemented by different
     * contact strategies.
     *
     * Each contact strategy requires different information for the geometries it uses.
     * This is a common interface for all of these types.
     */
    class ContactModel : public rw::proximity::ProximityModel
    {
      public:
        //! @brief smart pointer type to this class
        typedef rw::core::Ptr< ContactModel > Ptr;

        /**
         * @brief Construct new contact model.
         *
         * @param pOwner [in] The contact strategy that creates this model.
         */
        ContactModel (rw::proximity::ProximityStrategy* pOwner) : ProximityModel (pOwner){};

        /**
         * @brief Destruct the model.
         */
        virtual ~ContactModel (){};

        /**
         * @brief Get name of model as a string.
         *
         * @return name of model.
         */
        virtual std::string getName () const = 0;
    };
    //! @}
}}     // namespace rwsim::contacts
#endif /* RWSIM_CONTACTS_CONTACTMODEL_HPP_ */
